Optimal control of a twin rotor MIMO system using LQR with integral action
Authors:
- 1 August 2014
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21544824,p. 114-119
Abstract
The twin rotor MIMO system (TRMS) is a helicopter-like system that is restricted to two degrees of freedom, pitch and yaw. It is a complicated nonlinear, coupled, MIMO system used for system identification, the verification of control methods and observers. This paper details the design procedure for a suboptimal tracking controller using a linear quadratic regulator (LQR) with integral action. It was found that the LQR controller with integral action (LQI) provided performance superior to existing optimal controllers in the literature.Keywords
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